Publications
Our teams aspire to make discoveries that impact everyone, and core to our approach is sharing our research and tools to fuel progress in the field.
Our teams aspire to make discoveries that impact everyone, and core to our approach is sharing our research and tools to fuel progress in the field.
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1 - 15 of 11620 publications
When Android Apps Request Location with a Reason: A Developer Study and User Behavior Experiment
May Smith
Aman Jain
Proceedings on Privacy Enhancing Technologies (2027)
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Recent reports have highlighted how mobile apps share user location data with third parties, risking user privacy and platform trust. Although location data is highly sensitive, when users grant apps location access, they may not know the full extent to which it is used. We study how requiring Android apps to show a reason for location access could impact developers, users, and the platform.
We surveyed 323 Android app developers and found most supported such a requirement. The majority said it would have a positive impact on user privacy, trust for apps, and trust for Android, where impact on user trust for Android correlated most strongly with support. Many developers also said the intervention would increase the number of users granting location access. Yet their open-ended comments also revealed consistent concerns, such as apps providing dishonest reasons and platform verification.
To study the impact on user behavior, we conducted a randomized controlled experiment with 2579 US Android users. We tested how users' decisions to grant location access were impacted by app type, whether reasons were included in the requests, and the content of the reasons, including monetization. We did not find the reasons impacted users' decisions; decisions were instead driven by app type and demographics. Yet we did find the reasons could have a positive impact on user perception for the platform when the reasons did not include using data for ads. Our findings provide insights into developers' willingness to implement privacy-enhancing changes, and expose limits to improving user privacy by simply adding information to user interfaces.
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A 3D Scene Graphs Survey: Open Challenges and Future Directions
Dennis Rotondi
Francesco Argenziano
Sebastian Koch
Nathan Hughes
Martin Büchner
Johanna Wald
Lukas Schmid
Daniele Nardi
Abhinav Valada
Liam Paul
Luca Carlone
Kai Arras
Annual Review of Control, Robotics, and Autonomous Systems (ARCRAS), 10 (2027) (to appear)
Preview abstract
3D Scene Graphs (3DSGs) have emerged as a powerful representation for spatial AI by combining geometric grounding with semantic and relational abstractions of the environment. Their expressiveness has made them relevant to a broad range of problems in robotics and computer vision, including mapping, task and motion planning, scene understanding, and many others. However, the field remains fragmented: different communities adopt distinct formulations, construction pipelines, and evaluation protocols, making it difficult to compare methods, identify common assumptions, and assess remaining challenges for robust real- world deployment. This survey provides a unified and critical review of 3DSGs, with particular emphasis on open challenges and future directions. We first formalize 3DSGs under a common definition and analyze the principal modeling choices that characterize existing formulations, including node and edge attributes, hierarchical structure, dynamic scene representations, and affordance-aware extensions. We then review how 3DSGs are constructed from raw sensory observations, covering both learning-oriented and construction-oriented systems. Finally, we examine downstream applications and evaluation strategies, from intrinsic graph quality to task-level performance. To support the community, we also provide a dedicated website that organizes and extends the surveyed works.
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SemBench: A Benchmark for Semantic Query Processing Engines
Jiale Lao
Gerardo Vitagliano
Immanuel Trummer
H. V. Jagadish
Sebastian Schelter
Andreas Kipf
Matthew Russo
Kris Kissel
Michael Cochez
Andreas Zimmerer
Olga Ovcharenko
Thibaud Hottelier
Gautam Gupta
Tianji Cong
2026
Preview abstract
We present a benchmark targeting a novel class of systems: semantic query processing engines. Those systems rely inherently on zero-shot abilities of state-of-the-art large language models (LLMs). They extend SQL with semantic operators, configured by natural language instructions, that are evaluated via LLMs and enable users to perform various operations on multimodal data. Our benchmark provides variety along three axis: scenarios, modalities, and operators. Included are scenarios ranging from movie review analysis to medical question-answering. Within these scenarios, we cover different data modalities, including images, audio, and text. Finally, the queries involve a diverse set of operators, including semantic filters, joins, mappings, ranking, and classification operators.
We evaluate systems according to processing overheads and result quality. We present experimental results for an industrial semantic query processing engine (BigQuery), as well as academic systems (LOTUS, Palimpzest, and ThalamusDB). Our results shed light on the relative strengths and weaknesses of the evaluated systems, and hint at promising avenues for future research.
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Editing Everything Everywhere All at Once
Fabio Quattrini
Carmine Zaccagnino
Enis Simsar
Marta Tintore Gazulla
Rita Cucchiara
Silvia Cascianelli
2026
Preview abstract
Editing multiple elements of an image in a single forward pass has recently emerged as a practical alternative to multi-turn image manipulation, offering improved efficiency. However, when several instructions target different regions, semantic interference often leads to attribute leakage and poor edit disentanglement, especially as the number of edits increases. In this work, we propose MICE (Multi-Instance Concurrent Editing), a training-free strategy for scalable multi-instance image editing with Multimodal Diffusion Transformers. MICE modifies the additive bias of joint attention to regulate interactions between instance-specific text, latent, and context tokens identified via user-provided segmentation masks. Specifically, MICE allows intra-instance attention, penalizes interactions between neighboring region tokens, and suppresses unrelated cross-instance attention. As a result, our method enforces attribute binding while preserving global visual consistency. We evaluate MICE on LoMOE-Bench and introduce MICE-Bench, a more challenging benchmark with an average of 8.5 concurrent edits per image. The experiments demonstrate that our approach outperforms strong baselines and recent competitors in terms of the number of attempted edits and faithfulness to the textual editing instruction.
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Differential Validator: Ensuring SoC ROM to Hierarchical Blocks Node Voltage Integrity
Prateek Pendyala
Mathew Kaipanatu
2026
Preview abstract
SoC Flat IR/EM signoff is generally done for multiple cycles thus generally mandating 2+ days to cover a single scenario- not only is the coverage limited but also expensive since even small ECO fixes trigger full analysis repeat (of same resources). Additionally, designs which have multiple hierarchical block level instantiations - this is massively computationally redundant.
Reduced Order Model (ROM) Flow: Hierarchical Abstraction for IR/EM Signoff:
ROM eliminates computational redundancy by using abstract representations of pre-verified blocks. It leverages tweaked SoC flat analysis to have appropriate block level details to enable 10-20× faster SoC turnaround and broader scenario coverage. Below is its mechanism:
The Common Connection Layer (CCL) acts as the electrical boundary between block & SoC top. ROM preserves full detail only at the CCL and CCL-1, while the lower metal layers (M0 to CCL-2) are rolled up into equivalent impedance model to maintain signoff accuracy.
Designers use a mix of detailed instances for same critical block with reduced instances to optimize resource usage as shown in Fig 1.
The Validation Problem with ROM- Trust Gap:
Context Mismatch: ROMs are generated in standalone conditions, failing to account for top-level grid impedance and adjacent block coupling.
Fidelity & Coverage Loss: Abstracting 12-14 layers can mask local voltage violations; current manual spot-checks are insufficient since these fail to quantify if CCL node voltages in all ROM instances match their power-domain & scenario specific simulation values
Objective of this work:
Systematic validation across all ROM instances & all power domains in a quick (wall time ~mins for SoC) else it would offset ROM runtime benefits.
Quantitative fidelity metrics with low violation thresholds & spatial coverage for debug to understand root cause of localised errors.
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XProf: An Open, Scalable and Extensible Profiling System for the Modern ML Stack
Robert Hundt
Naveen Kumar
Jose Baiocchi Paredes
Scott Goodson
Kelvin Le
Yin Zhang
Kan Cai
Sai Ganesh Bandiatmakuri
Yogesh SY
Ani Udipi
Vikas Aggarwal
Ninth Conference on Machine Learning and Systems (2026)
Preview abstract
Optimizing Large Models across thousands of accelerators requires deep system expertise. To address modern machine learning (ML) optimization needs, we present XProf, the ML profiler for the OpenXLA ecosystem. XProf delivers actionable optimization suggestions and in-depth performance analysis, empowering ML researchers and framework users to improve efficiency without specialized systems knowledge. XProf provides a unified, full-stack view of both host (CPU) and device (accelerator - TPUs/GPUs) performance, leveraging tools like the Roofline Model for comprehensive analysis. XProf’s distributed architecture is designed to monitor thousands of chips with minimal workload overhead (<1%). This architecture is made pluggable through the open-source PJRT C API extension, which has facilitated its adoption by third-party accelerator vendors. XProf has been instrumental in achieving significant efficiency gains at Google and winning MLPerf submissions. This paper presents the design and architecture of XProf, showcases its differentiating tools and capabilities, and highlights its impact within Google and across the industry as a state of the art ML profiler. XProf is available as part of the OpenXLA project at https://github.com/openxla/xprof.
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Gaze Target Estimation Anywhere with Concepts
Xu Cao
Houze Yang
Vipin Gunda
Inki Kim
Jim Rehg
Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (2026)
Preview abstract
Estimating human gaze targets in-the-wild is a formidable challenge. Existing computer vision algorithms rely on brittle, multi-stage pipelines that require explicit inputs like head bounding boxes and human pose, causing initial detection errors to cascade and lead to system failure. To overcome this, we introduce the \textbf{Promptable Gaze Target Estimation (PGE)} task, a new end-to-end, concept-driven paradigm. PGE conditions gaze prediction on flexible user text or visual prompts (e.g., "the boy in the red shirt" or "person in point [0.52, 0.48]") to identify a specific subject's target, which eliminates the rigid dependency on intermediate localization cues. We develop a scalable data engine to generate \textbf{Gaze-Co}, a dataset and benchmark of 120K high-quality, prompt-annotated image pairs. We also propose \textbf{AnyGaze}, the first model designed for PGE. AnyGaze uses a Transformer-based detector to fuse features from frozen encoders and simultaneously solves subject localization, in/out-of-frame presence, and gaze target heatmap estimation. AnyGaze achieves state-of-the-art performance on standard gaze target estimation benchmarks, setting a strong baseline for this new problem even on a difficult out-of-domain, real-world clinical dataset. We will open-source the AnyGaze model and the Gaze-Co benchmark.
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Preview abstract
Cardinality sketches are compact data structures for representing sets or vectors. These sketches are space-efficient, typically requiring only logarithmic storage in the input size, and enable approximation of cardinality (or the number of nonzero entries). A crucial property in applications is \emph{composability} of the sketching map, meaning that the sketch of a union of sets can be computed from individual sketches. Existing designs provide strong statistical guarantees, ensuring that a randomly sampled sketching map is accurate with high probability for a number of queries that is exponential in the sketch size $k$. However, these guarantees degrade to quadratic in $k$ when queries are adaptive, meaning they depend on previous responses.
Prior works on statistical queries (Steinke and Ullman, 2015) and specific MinHash cardinality sketches (Ahmadian and Cohen, 2024) established that this is tight in that they can be compromised using $\tilde{O}(k^2)$ adaptive queries. In this work, we develop a unified attack framework that applies to broad classes of cardinality sketches. We show that any union-composable sketching map can be compromised with $\tilde{O}(k^4)$ adaptive queries. Moreover, this improves to a tight bound of $\tilde{O}(k^2)$ for monotone composable maps (special cases include MinHash, statistical queries, Boolean linear maps), for any linear map over the reals $\mathbb{R}$ and finite fields $\mathbb{F}_p$, and for any linear map over the integers $\mathbb{Z}$ but when the estimator may only use the nonzero structure of the sketch (as in Cormode et al., 2003). Our work is the first to apply to general composable maps and establishes and builds on fundamental properties of these structures. Specifically for linear sketches, we are the first to establish tight quadratic bounds, to any subclass, and our bounds strengthen weaker polynomial bounds recently established by Gribelyuk et al. (2024).
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Semantic data models express high-level business concepts and metrics, capturing the business logic needed to query a database correctly. Most data modeling solutions are built as layers above SQL query engines, with bespoke query languages or APIs. The layered approach means that semantic models can’t be used directly in SQL queries. This paper focuses on an open problem in this space – can we define semantic models in SQL, and make them naturally queryable in SQL?
In parallel, graph query is becoming increasingly popular, including in SQL. SQL/PGQ extends SQL with an embedded subset of the GQL graph query language, adding property graph views and making graph traversal queries easy.
We explore a surprising connection: semantic data models are graphs, and defining graphs is a data modeling problem. In both domains, users start by defining a graph model, and need query language support to easily traverse edges in the graph, which means doing joins in the underlying data.
We propose some useful SQL extensions that make it easier to use higher-level data model abstractions in queries. Users can define a “semantic data graph” view of their data, encapsulating the complex business logic required to query the underlying tables correctly. Then they can query that semantic graph model easily with SQL.
Our SQL extensions are useful independently, simplifying many queries – particularly, queries with joins. We make declared foreign key relationships usable for joins at query time – a feature that seems obvious but is notably missing in standard SQL.
In combination, these extensions provide a practical approach to extend SQL incrementally, bringing semantic modeling and graph query together with the relational model and SQL.
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Beyond Vector Similarity: Hierarchical Context-Aware Graph RAG vs Standard RAG in Enterprise Code Migration
Suddhasatwa Bhaumik
Nilesh Jaiswal
Arjit Shukla
Divya Malhotra
Aniket Agrawal
Saurabh Garg
Suchit Puri
Google Cloud India, Google, S. No, AP81, 83, N Main Rd, near Hard Rock Cafe, Koregaon Park Annexe, Mundhwa, Pune, Maharashtra 411036 (2026)
Preview abstract
As enterprises modernize legacy systems (e.g., monolithic Java architectures to Python microservices), Large Language Models (LLMs) have become instrumental in automated code translation.
However, traditional vector-based Retrieval-Augmented Generation (Standard RAG) struggles
with topological relationships, fetching isolated text chunks that frequently sever inheritance chains and lead to high compilation failure rates.
This paper presents a comparative analysis between Standard RAG and a novel Hierarchical
Context-Resident Graph (HCRG) methodology. Our pipeline utilizes tree-sitter for polyglot
Abstract Syntax Tree (AST) extraction, mapping architectural edges into a Google Cloud Spanner Property Graph, and serializing this structure into a Gemini (on Vertex AI) Context Cache to enable topological, parent-first code translation.
By shifting evaluation from naive text-overlap to a custom 7-metric framework measuring Software Engineering (SE) utility, empirical evaluations on the spring-petclinic-genai repository
demonstrate significant structural improvements. Graph RAG decisively mitigates dependency loss, dropping the API hallucination rate from 56.4% to 16.2%.
Furthermore, it improves Dependency Resolution Quality (DRQ) from 34.8% to
65.9% and enhances Parent-Child Consistency (PCC) from 26.7% to 45.5%. Interestingly, traditional lexical metrics fail to capture this divergence; both methodologies achieved
an identical 91% average CodeBLEU score, effectively masking Standard RAG’s structural
failures behind syntactically plausible but broken code.
However, the results indicate that Graph RAG is not strictly superior across all dimensions. Providing the LLM with dense, global structural context introduces new vulnerabilities: Graph RAG suffers a severe degradation in Cyclomatic Complexity Consistency
(dropping from Standard RAG’s 71.6% to 46.7%) due to defensive over-engineering
by the LLM, alongside a slight drop in Docstring Preservation (67.0% down to 61.0%)
caused by prompt attention dilution.
Ultimately, this research validates that while Graph RAG trades an increase in code complexity
for critical reductions in API hallucinations, it offers a substantially more viable and architecturally sound path for automated enterprise codebase modernisation.
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OpenClaw in Practice: Building Laptop-Less Engineering Workflows with an Agent Harness
Hackernoon (2026)
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This article introduces OpenClaw, an AI-powered workflow harness designed to reduce operational friction for developers. Unlike traditional chatbots, OpenClaw manages and persists context across complex engineering tasks, enabling asynchronous operations and mobile-first interactions. The post explores practical use cases, including incident triage from mobile, asynchronous pull request reviews, quick infrastructure scripting, and automating routine operational tasks. It also delves into the key architectural layers of an OpenClaw-like system—Connectors, Gateway/Session Manager, Agent Runtime, Memory/Configuration, and Skills/Tools. The article emphasizes the importance of security, observability, and proper integration with existing developer ecosystems, positioning OpenClaw as a shift towards reducing context switching and enhancing developer productivity by automating the workflows around coding.
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Mind the Gap: Structure-Aware Consistency in Preference Learning
Proceedings of the 43rd International Conference on Machine Learning (ICML 2026)
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Aligning Large Language Models (LLMs) with human intent, whether through explicit reward modeling or direct methods such as DPO, fundamentally relies on minimizing a surrogate loss as a proxy for the true pairwise ranking objective. We prove that this reliance is flawed for the standard surrogate losses used: for the equicontinuous hypothesis sets characteristic of neural networks, no standard surrogate provides a meaningful consistency guarantee. Minimizing the surrogate loss to zero can leave the true ranking error arbitrarily high. To resolve this, we formulate LLM alignment within a margin-shifted ranking framework and derive $H$-consistency bounds showing that enforcing a confidence margin $\gamma$ is not merely beneficial but necessary for consistency. We further introduce Structure-Aware $H$-consistency and a corresponding objective (SA-DPO) that adapts the margin to the semantic distance between responses, preventing instability on near-synonymous pairs. Finally, we analyze the trade-off between the margin required for consistency and the model's finite capacity to satisfy it, revealing a strict hierarchy of surrogate losses: heavy-tailed surrogates (e.g., the Polynomial Hinge family) offer strictly superior consistency guarantees for capacity-bounded models compared to the logistic loss used in DPO. Experiments on UltraFeedback and Argilla DPO-Mix-7k confirm that SA-DPO consistently outperforms DPO and SimPO, with a 58.5% head-to-head win-rate in downstream generation quality.
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Serverless platforms offer compelling economics for low-traffic inference of small language models (SLMs), but cold start latency remains a critical barrier. We present a systematic empirical study of cold start performance for quantized SLMs served via llama.cpp on Google Cloud Run’s CPU-only infrastructure. We benchmark five models (270M– 3.8B parameters) across two memory tiers (4 GiB and 8 GiB), with a quantization sweep spanning five GGUF formats (Q2_K through Q8_0) for LLaMA 3.2 1B and three-point validation on Gemma 3 270M and Qwen3 0.6B. Our results reveal that model loading dominates cold start time (55–70%), the 8 GiB tier provides a hidden 2× vCPU advantage that nearly halves warm inference time, and Q4_K_M quantization achieves a Pareto-optimal tradeoff across latency, throughput, and model quality (confirmed via WikiText-2 perplexity). A threepredictor latency model (R 2 = 0.97) and break-even cost analysis provide practitioners a quantitative framework for SLM deployment decisions. Index Terms—small language models, serverless computing, cold start, quantization, llama.cpp, Cloud Run, GGUF, inference optimization
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Securing the Agentic Enterprise
Amazon Kindle (2026)
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Securing the Agentic Enterprise: Threat Modeling, Anomaly Detection, and Governing Autonomous Multi-Agent Systems addresses the critical security and governance gaps emerging as enterprises transition from human-supervised copilots to autonomous agentic workflows. As software processes gain the ability to reason, decompose natural language objectives, and execute multi-step tool calls at machine speed, traditional syntactic security boundaries (like firewalls and static analysis) become obsolete.
This book provides security architects, CISOs, and platform engineers with a practical, architecture-level blueprint for securing this new paradigm. It explores novel attack vectors such as indirect prompt injections and consumption-based economic threats and provides frameworks for robust mitigation. Key topics include modernizing agentic identity, implementing semantic firewalls, transition-state anomaly detection, and applying zero-trust principles to autonomous execution contexts. Bridging the gap between high-level ethical guidelines and isolated model safety, this guide prepares practitioners to confidently deploy and govern enterprise-grade autonomous systems.
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When “Correct” Is Not Safe: Can We Trust Functionally Correct Patches Generated by Code Agents?
Corina Pasareanu
Haizhong Zheng
Beidi Chen
Ravi Mangal
Xinyu Yang
James Song
Yibo Peng
Proceedings of the 64th Annual Meeting of the Association for Computational Linguistics, Association for Computational Linguistics, San Diego, California, United States (2026), 15514–15546
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Code agents are increasingly trusted to autonomously fix bugs on platforms such as GitHub, yet their security evaluation focuses almost exclusively on functional correctness. In this paper, we reveal a novel type of threat to real-world code agents: Functionally Correct yet Vulnerable (FCV) patches, which pass all test cases but contain vulnerable code. With our proposed FCV-Attack, which can be deliberately crafted by malicious attackers or implicitly introduced by benign developers, we show that SOTA LLMs (e.g., ChatGPT and Claude) and agent scaffolds (e.g., SWE-agent and OpenHands) are all vulnerable to this FCV threat; across 12 agent-model combinations on SWE-Bench, the attack only requires black-box access and a single query to the code agent to perform the attack. For example, for CWE-538 (information exposure vulnerability), the FCV-Attack attains an attack success rate of 40.7% on GPT-5 Mini + OpenHands. Our results reveal an important security threat overlooked by current evaluation paradigms and urge the development of security-aware defenses for code agents.
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